Command 2050: Jog motion
Moves the manipulator using Jog motion.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | reserved | Specify “0” |
| ｜ | |||
| 3 | |||
| 2 | mode | Select the Jog mode. 0 = World 1 = Joint | |
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | axisSelection | Select the target axis. When World is selected: 1 = X axis 2 = Y axis 3 = Z axis 4 = U axis 5 = V axis 6 = W axis When Joint is selected: 1 = Joint #1 2 = Joint #2 3 = Joint #3 4 = Joint #4 5 = Joint #5 6 = Joint #6 |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | distance High-order word | Specifies the move distance (real number) as the value × 1000 converted to a 32-bit integer. When World is selected: X, Y, Z = mm U, V, X = deg When Joint is selected: For prismatic joints, (Unit: mm) For rotational joints, (Unit: deg) High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | distance Low-order word | Specifies the move distance (real number) as the value 1000 converted to a 32-bit integer. When World is selected: X, Y, Z = mm U, V, W = deg When Joint is selected: For prismatic joints, (Unit: mm) For rotational joints, (Unit: deg) Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
Refer to the following.
Description
Moves the manipulator using Jog motion by selecting World or Joint.
World moves the manipulator in the World coordinate system while Joint moves the manipulator by each joint. This command only supports step jogs.
Example
When moving the X axis 120.005 mm in World mode.
| Command | Response |
| 0802H 0000H 0001H 0001H D4C5H | 0802H 0000H 0000H |